相关论文: SGAligner : 3D Scene Alignment with Scene Graphs

Realistic 3D indoor scene generation is crucial for virtual reality, interior design, embodied intelligence, and scene understanding. While existing methods have made progress in coarse-scale furniture arrangement, they struggle to capture…

In this work, we seek new insights into the underlying challenges of the Scene Graph Generation (SGG) task. Quantitative and qualitative analysis of the Visual Genome dataset implies -- 1) Ambiguity: even if inter-object relationship…

3D scene modeling techniques serve as the bedrocks in the geospatial engineering and computer science, which drives many applications ranging from automated driving, terrain mapping, navigation, virtual, augmented, mixed, and extended…

The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…

The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective side and human user preference on the subjective side. In…

3D scene graph prediction is a task that aims to concurrently predict object classes and their relationships within a 3D environment. As these environments are primarily designed by and for humans, incorporating commonsense knowledge…

Advancements in generative models have sparked significant interest in generating images while adhering to specific structural guidelines. Scene graph to image generation is one such task of generating images which are consistent with the…

Automatically generating interactive 3D indoor scenes from natural language is crucial for virtual reality, gaming, and embodied AI. However, existing LLM-based approaches often suffer from spatial errors and collisions, in part because…

In this paper we investigate an emerging application, 3D scene understanding, likely to be significant in the mobile space in the near future. The goal of this exploration is to reduce execution time while meeting our quality of result…

Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image…

Real-world data collection for embodied agents remains costly and unsafe, calling for scalable, realistic, and simulator-ready 3D environments. However, existing scene-generation systems often rely on rule-based or task-specific pipelines,…

In many engineering applications, processes must be followed precisely, making conformance checking between event logs and declarative process models crucial for ensuring adherence to desired behaviors. This is a critical area where…

3D Gaussian Splatting has recently emerged as a highly promising technique for modeling of static 3D scenes. In contrast to Neural Radiance Fields, it utilizes efficient rasterization allowing for very fast rendering at high-quality.…

Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and…

Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the detected changes and fail to explicitly separate pre- and…

While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…

Abstract representations of 3D scenes play a crucial role in computer vision, enabling a wide range of applications such as mapping, localization, surface reconstruction, and even advanced tasks like SLAM and rendering. Among these…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…